Extendable camera support and stabilization apparatus

ABSTRACT

A support system used to orient and utilize equipment remotely positioned from an operator and supported in a stabilized manner. The support system includes a balance pole with a master end and a slave end attached to a master sled and slave sled, respectively. The system includes a mechanism to replicate the motion at the master sled at the slave sled. A gimbal and handle assembly with a motion dampening capabilities is also included.

The invention relates to stabilizers for cameras and other similardevices. Particular, embodiments of the invention relate to extendablecamera stabilization devices that are typically body-mounted, and aredesigned to produce smooth moving shots over all types of terrain.

BACKGROUND OF THE INVENTION

Body mounted camera stabilization devices are typically comprised of acamera equipment support system with a three-axis gimbal at its centerof gravity. The support structure is usually attached to an articulatedsupport arm that is in turn attached to an operator-worn vest, althoughthe arm may be mounted to other stationary or mobile structures. Thesedevices are designed to support and isolate a camera or other devicefrom the unwanted movements of a walking, running or otherwise movingoperator, vehicle or operator/vehicle combination. Common examples ofsuch devices are those marketed under the trademark Steadicam®.

The body-mounted stabilizer camera support structure, conventionallyknown as the ‘sled’, generally includes extended masses to enhanceinertial stability and to position the center of balance in anaccessible location. The camera support ‘sled’ structure isapproximately neutrally counterbalanced by a rigidly mounted camera atone end of a center-post, and other rigidly mounted components, (videomonitor, battery, focus equipment, microwave transmission equipment,camera control unit equipment, other electronics, etc) at the other endof the post. The camera can thus be aimed in any direction by slighthand pressure adjacent to the gimbal. The mutually perpendiculardirections of these aiming motions are distinctly referred to as pan,tilt and roll.

As used herein, unless otherwise specified, “roll” denotes rotationabout an axis generally parallel to the camera's lens, “pan” describesrotation about an axis that runs down the center of the camera-supportcentral post, and which is offset 90° from the roll axis ‘Tilt’describes rotation about a substantially horizontal axis perpendicularto both the lens axis and the pan axis.

Since the camera and monitor are rigidly attached to the supportstructure, vertical camera travel, while maintaining a level camerahorizon, is restricted to the maximum vertical excursion of thearticulated support arm, which is typically 32 inches in standard modeplus an overlapping, but discontinuous, 32 inches in ‘low mode’.Conversion to low mode requires mechanically removing the camera,inverting the support structure, and reattaching it to the invertedsupport structure via a so-called ‘low-mode bracket’ that is differentfor every camera. Additionally, the monitor must be inverted, the gimbaladjusted along the center-post to restore the desired slightbottom-heaviness of the balanced masses; a special gimbal-to-armattachment bracket must be employed; and all cables of the entire camerasystem must be detached and reattached.

Finally, the system must be rebalanced. This time-intensive proceduremust be followed every time the conversion from low mode to high, orhigh mode to low, is required. Often, due to time constraints, the shotis eliminated, much to the chagrin of the director and operator.

Another problem for operators of these devices arises when a low-modeshot requires surmounting some type of obstacle, such as a car hood,fence, bar, desk, etc. due limited lateral reach of the support arm.

Gyro-leveled, ‘roll-cage-mounted’ camera supports are known, and aremarketed, for example, under the trade name “AR”, which permitcontinuous ‘low-mode’ to ‘high-mode’ shooting. These devices, howeverare extremely awkward to operate, since, on the way from low to highpositions, ‘tilt’ and ‘pan’ progressively require non-intuitivemanipulations of the stabilizer's center post which are unrelated to thecamera's actual orientation.

Extended pole-supported, remotely controlled camera mounts, includingone marketed as ‘Pole-Cam, are known in the art and simply constructed,but they are extremely unstable unless mounted on stationary tripodsupports.

A need therefore exists for an apparatus for augmenting the capabilitiesof equipment-stabilizing supports—in particular body-mounted camerastabilizers—and extending their reach and angular agility so thatstabilized operations, such as shots, can be made that preferablyinclude unrestricted and intuitive angular control of the camera, aswell as large lateral and vertical displacements from the operator'sposition,

SUMMARY OF THE INVENTION

Embodiments of the invention provide a device to orient and utilizeequipment remotely positioned from an operator and supported in astabilized manner. Particular embodiments of the invention arecompatible with lightweight cameras, including those less than onepound, or even less than 0.5 pounds.

In an exemplary embodiment of the invention, one or more of themechanical means for replicating angular motions of the master end atthe slave end are adapted to be removably mounted to modifiedSteadicam®-type equipment.

When the support system has a rigid axial connection, for example in theform of an active balance pole, a handgrip can be employed that isconnected to, but freely rotatable about, the balance pole.

Exemplary embodiments of the invention include handles having elementsthat work in conjunction with active gimbal elements to selectivelyisolate, and dampen unwanted motions, and orient the attitude of thebalance pole with respect to the vertical.

A support system according to an illustrative embodiment of theinvention, comprises a balance pole with a primary (master) end and asecondary (slave) end. One or more primary component masses areconnected to and balanced at the balance pole master end on a supportstructure or master sled with a master gimbal apparatus, and one or moresecondary component masses are connected to and balanced at the balancepole slave end on a support structure or slave sled with a slave gimbalapparatus. A primary gimbal apparatus having a primary yoke isnon-rotatably connected to the primary end of the balance pole. Asecondary gimbal apparatus having a secondary yoke is non-rotatablyconnected to the secondary end of the balance pole. A tertiary gimbal isattached to the balance pole at its center of balance so the balancepole can rotate within it to provide a first degree of angularconnection between the primary and secondary yokes. A primary pulleytree is attached to an outer race housing of the primary gimbal, and asecondary pulley tree is attached to an outer race housing of thesecondary gimbal. A primary center post is disposed within an inner raceof the primary gimbal, and a secondary center post is disposed within aninner race of the secondary gimbal. A pair of tie rods is disposedsubstantially parallel to the balance pole and to one another andextending from the primary pulley tree to the secondary pulley tree,each tie rod attached pivotally at each pulley tree, such that thebalance pole, tie rods and center posts form a parallelogram, whichprovides a second degree of angular connection between the primary andsecondary center posts. Each pulley tree has a plurality of pulleysfunctionally connected with an endless line such that motion of theprimary gimbal is replicated at the secondary gimbal to provide a thirddegree of angular connection. Accordingly, the orientation of the mastergimbal is mimicked by the slave gimbal.

The support system may include at least one vibration control system todampen vibration imparted to a center post. In an illustrativeembodiment of the invention, the vibration control system comprises amounting bracket rigidly attached to a pulley tree and at leastpartially encircling a center post, wherein the mounting bracket has aplurality of idler rollers and is adjustably positioned to allow theidler rollers to contact the center post.

The invention further includes various embodiments of a handle assemblythat can be used with a support system having a balancing pole. In anillustrative embodiment of the invention the handle assembly comprises abalance pole gimbal in functional connection to, and longitudinallyslidably disposed on, the balance pole. The balance pole gimbal has anouter race that is attached to a handle support bracket at a proximateend of the handle support bracket. The handle support bracket has anotch to accommodate the tie rods as the support system is rotated. Thehandle support bracket is further attached to a handle shaft at a distalend of handle support bracket, the handle shaft extending in a directionsubstantially perpendicular to a center line of the balance pole. A gripis disposed about the handle shaft and rotatable about a longitudinalaxis of the handle. An arm mounting assembly can also be included, whichis attached to a distal end of the handle shaft to mount a support arm.The arm mounting assembly is rotatable with respect to the support armabout a substantially vertical axis, which is substantiallyperpendicular to the longitudinal axis of the handle shaft.

The handle support bracket can be connected via connection componentsattached to the balance pole gimbal outer race, and complimentaryconnection components attached to the handle support bracket. Resilientcomponents are disposed between the balance pole gimbal outer racehandle support bracket connection components and the complimentaryconnection components so that motion of the handle support bracketsubstantially perpendicular to the longitudinal axis of the handle shaftwill be dampened by the resilient components. In a particular embodimentof the invention, the connection components protrude from the outergimbal race, and the complimentary components are u-shaped componentsthat straddle the projections, with the resilient components disposedtherebetween.

The invention includes modification of a support system by attaching agimbal and handle apparatus as disclosed herein.

The invention further comprises an extension pole for a camera supportsystem having a gimbal and handle apparatus according to any of theembodiments provided herein. The invention also includes a supportsystem having such a balance pole.

The support system may be attached to an articulated arm, and furtherthe articulated arm may be attached to an operator's vest. Preferablythe articulated arm is an equipoising arm. The invention also includesthe support system with the articulated arm.

The invention is also directed to methods of balancing and utilizingequipment by providing a support system according to any of theembodiments of the invention; balancing the primary component masseswith respect to one another at the primary end; balancing the secondarycomponent masses with respect to one another at the secondary end;balancing the primary masses with respect to the secondary masses aboutthe longitudinal axis of the balance pole; balancing the balance poleand the primary and secondary masses by positioning the tertiary gimbalalong the balance pole length; and moving the primary gimbal apparatus,thereby causing the movement replicating apparatus to mimic the movementin the secondary gimbal apparatus at the slave end while maintaining theapproximate balance of the component masses.

DESCRIPTION OF THE DRAWINGS

The invention is best understood from the detailed description when readin conjunction with the accompanying drawings.

FIG. 1 is a prior art camera support and stabilizing system shown in‘low-mode’ with the camera underslung.

FIG. 2 is a front view of a typical prior art lightweight vest andarticulating support arm.

FIG. 3 shows an illustrative embodiment of the invention deployed formaximum lens height.

FIG. 4 shows an illustrative embodiment of the invention deployed forminimum lens height.

FIG. 5 shows a master sled according to an illustrative embodiment ofthe invention.

FIG. 6 is an enlarged view of the gimbal portion of the master sleddetailing three rotation sensors according to an illustrative embodimentof the invention.

FIG. 7 is shows a slave sled detailing three servo motors, and thecamera and miniature auxiliary monitor positions according to anillustrative embodiment of the invention.

FIG. 8 shows an illustrative embodiment of the invention deployed toshoot above and straight behind the operator.

FIG. 9 shows an extended extra-long balance pole deployed between themaster and lave sleds according to an illustrative embodiment of theinvention.

FIG. 10 shows an illustrative embodiment of the invention in which thegimbal yokes of the master and slave sleds are both hard connected to an‘active’ balance pole, and thus axially synchronized by mechanicalmeans.

FIG. 11 shows a master sled gimbal yoke mechanically-connected to theactive balance post according to an illustrative embodiment of theinvention.

FIG. 12 shows a slave sled yoke mechanically connected to the activebalance post according to an illustrative embodiment of the invention.

FIG. 13 shows an annular, axially isolated handgrip for elevating andtraversing the active balance pole according to an illustrativeembodiment of the invention.

FIG. 14 shows an offset handgrip, hard-connected to an annular, axiallyisolated handgrip, for elevating and traversing an active balance poleaccording to an illustrative embodiment of the invention.

FIG. 15 shows another hard-connected lightweight embodiment with fewercounterweights and with a tie-rod interlocking a second axis of rotationaccording to an illustrative embodiment of the invention.

FIG. 16 depicts a support system in which a multi-part tie rodsynchronizes both pitch motions and limited panning motions betweenmaster and slave sleds according to an illustrative embodiment of theinvention.

FIG. 17 depicts an illustrative embodiment of the invention whichtoothed gears and a belt operate in conjunction with a tie rod tosynchronize both pitch and panning motions between master and slavesleds.

FIG. 18 provides further details of the embodiment depicted in FIG. 17,showing the mechanical interconnection between master and slave sleds bymeans of a gear belt and bevel-gears to effect the synchronization ofpanning motions.

FIG. 19 depicts a support system with synchronizing components disposedwithin the balance pole according to an illustrative embodiment of theinvention.

FIG. 20 is an isometric view of an extendable camera support andstabilization apparatus in which three axes of master gimbal motion aremechanically reproduced at the slave gimbal by means of tie rods, linesand pulleys according to an illustrative embodiment of the invention.

FIG. 21 is an isometric view of the slave end of an extendable camerasupport and stabilization apparatus detailing the arrangement of pulleytree, pivot pulleys, turning pulleys, main pan pulley and drive line inassociation with the outer race of the slave gimbal according to anillustrative embodiment of the invention.

FIG. 22 is an isometric view of the slave end of an extendable camerasupport and stabilization apparatus showing the drive line position withrespect to the turning pulleys and those of the main pan pulleyaccording to an illustrative embodiment of the invention.

FIG. 23 is an isometric view of the slave gimbal pulley tree showing anoptional idler roller assembly according to an illustrative embodimentof the invention.

FIG. 24 is an isometric view of an ‘active’ gimbal handle according toan illustrative embodiment of the invention.

FIG. 25 is a side view of the active gimbal handle of FIG. 24illustrating the function of a notch in the support bracket thataccommodates tie rod incursions at various elevations during rotation ofthe balance according to an illustrative embodiment of the invention.

FIG. 26 is a perspective view of idler tree assembly including turningpulley bracket, standoff tubes, idler body with idler rollers, and idlerbody gate (in closed position) according to an illustrative embodimentof the invention.

FIG. 27 is an opposite perspective view of idler tree assembly includingturning pulley bracket, standoff tubes, idler body with idler rollers,and idler body gate in the open position for mounting and dismounting tothe gimbal outer race housing according to an illustrative embodiment ofthe invention.

FIG. 28 is an isolated perspective view of the tertiary balance polegimbal outer race with narrow extensions, attached resilient pads andbored hole for pivot axle.

FIG. 29 depicts an outer race of a gimbal assembly for an active handleaccording to an illustrative embodiment of the invention.

FIG. 30 is a perspective view showing the outer race of FIG. 29operatively associated with active handle support bracket and pivotaxle, the assembly in an angularly deflected position with one resilientpad shown compressed.

FIG. 31 and FIG. 32 are exploded views, respectively of the outer raceand support bracket assembly of FIG. 30 showing one of the outer raceextensions with associated resilient pads, and the support bracketshowing the pivot axle and bearing assembly that will engage thebore-hole in the outer race.

FIG. 33 and FIG. 34 show close up perspective views of the active handleassembly with the outer race pivoted to compress the resilient padagainst the walls of the support bracket. In FIG. 34, the supportbracket is rendered transparently to illustrate its relationship to theresilient pads, the outer race extensions and the pivoting axle andbearings.

FIG. 35 depicts a handle assembly according to an illustrativeembodiment of the invention.

DETAILED DESCRIPTION OF THE INVENTION

In general, illustrative embodiments of the invention employ aninherently stable and controllable sled of the Steadicam-type forexample, (gimbaled roughly at its center-of-balance and renderedangularly inert by expanded masses) as a ‘servo controller’ to cause asecondary, spatially-displaced, ‘slave sled’ to synchronously pan, tiltand/or roll at the other end of an a balance pole. The balance pole issupported by its own gimbal at its own center of gravity.

Exemplary embodiments of the invention employ a plurality ofsubstantially frictionless rotation-sensors to detect three mutuallyperpendicular rotations at the master sled gimbal as it is moved andaimed with respect to the momentary orientation of the attached balancepole. These rotations are then reproduced by a plurality of servo motorsat the analogous slave sled gimbal mounted at the opposite end of thebalance pole. Some of these ‘slaved’ rotations are caused by deliberateangular re-orientations of the master sled. Others can be manifest asrotations in all three axes at the master sled gimbal, yet are onlycaused by traversing and/or elevating moves of the balance pole itself;in which case, the angular position of the master sled may not change,but any or all of the sensors can be registering rotations that, whenreproduced at the slave gimbal, serve to keep the camera angularlystatic as well. In an alternative embodiment of the invention, there canbe less than a one-to-one ratio of sensors to controlled degrees ofangular motion of the camera or equipment or less than a one-to-oneratio of motors to controlled degrees of freedom. For example, a singlesensor can sense motion around more than one axis, and/or a single motorcan generate movement about more than one axis.

The balance pole can be extendable by, for example a telescopic ormodular structure. The master sled and slave sled can be releasable fromthe balance pole. With the attachment of various weights to the mastersled, it can counterbalance the miniature slave sled at ‘see-saw’ ratiosof, for example, 16:1. Assuming a lightweight pole, such as composed ofcarbon fiber, the weight of the master sled vs. the weight of theminiature sled will roughly equal the inverse ratio of the distancesbetween sleds and the balance pole gimbal. A three-pound slave sled 24feet from the gimbal can therefore be counterbalanced by a 48 lb mastersled 1.5 feet away. Adding a hypothetical 9 lbs for the long pole andits gimbal, the total is 60 lbs, which is well within the top-end loadscamera operators routinely support.

Other illustrative embodiments of the invention, may substitute thedirect mechanical axial connection of the balance pole for swivelingservo connections of master sled and slave sled to the axis of thebalance pole. This mechanical inter-connection employs the balance poleitself, in axial rotation, to lock, one-for-one, the axis of rotation ofthe slave and master gimbal yokes, in what is designated as the ‘pitch’axis.

Other mechanically interlocked configurations may replace one or more ofthe remaining electronic servo connections using other known types ofmechanical inter-connection, such as toothed belts, lines or cordsfunctionally connected to toothed gears or pulleys, and linecombinations, which can synchronize gimbal-yoke angles and pan anglesbetween the master and slave sleds.

Additionally, mechanically interlocked embodiments of the invention mayemploy tie rods and/or pulley interconnections to interconnect secondand/or third horizontal or vertical axes of rotation to eliminatecounterweights above or below the slaved camera gimbal andproportionally below or above the master sled gimbal, and thus cause theremaining master sled counterweights to effectively balance the slavesled camera and permit angular control as if master and slave sleds wereinterconnected above and below on a single virtual center post. Thisarrangement can enable the use of heavier cameras without the necessityof symmetrically counterweighting either the slave or master sleds, andmay therefore reduce the total weight of the invention potentially bynearly half. Additionally, mechanically locked embodiments of theinvention may employ paired tie rods connected between symmetrical cranksets extending laterally from each of the master center post and theslave center post in order to synchronize pan motions (up to plus/minus180° of rotation. If displaced appropriately above or below therespective master and slave gimbals, such tie-rod pairs can also serveto synchronize pitch angles between the master and slave posts.

Additionally, mechanically locked embodiments may employ singulartie-rods with yokes, or paired tie rods to functionally interconnectmaster and slave outer gimbal bearing races in combination withdentist-drill-type pulley and line sets to synchronize elevation and panmotions between master and slave sides with no or minimal limitation indegree of synchronous pan rotation.

Mechanically locked embodiments employing one or more tie rods may bemanipulated and oriented by means of an ‘active gimbal handle’ thatintegrates some angularly isolating gimbal components within the handlestructure. A notch can be provided between the balance pole and thehandle grip sufficient for the excursion of the tie rods when thebalance pole is caused to ‘pitch’ up or down as much as 90°.

FIG. 1 depicts a prior art stabilizing camera support system, known as aSteadicam®, deployed in ‘low-mode’ with camera 28 underslung. Themaximum vertical range of potential lens heights is indicated by line29.

FIG. 2 provides a front view of a typical prior art lightweight ‘vest’ 1and articulating support arm 2 which can be used to spatially isolateand support, or a part of embodiments of the invention.

FIG. 3 shows an illustrative embodiment of the invention deployed toobtain the maximum lens height for camera 6. Arm 2 is attached to vest 1and is raised to the limit of its travel. Arm 2 is attached to balancepole 4 by means of pole gimbal 4 a located between master sled 3 andslave sled 5 at the center-of-balance 4 b of the apparatus.

Master sled 3 is attached to balance pole 4 at master sled gimbal 3 b.Master sled gimbal 3 b provides three degrees of angular isolationbetween balance pole 4 and center post 3 a. In FIG. 3, balance pole 4 ispitched up to maximally elevate camera 6. Slave sled 5 is attached topole 4 at slave gimbal 5 b. Slave sled 5 is oriented by servo motors(shown for example in FIG. 6) to duplicate the positions and angularmovement at master gimbal 3 b. The servo motors respond to signals basedon information from sensors located at master sled 3 (see for exampleFIG. 5). Signals from sensors at the master sled may be conditioned,such as by servo amplifiers and/or software. The operator views theremote image from camera 6, which is located at master sled 5 on monitor8.

Servo motors are used as an example in illustrative embodiments of theinvention presented herein. Other sensor/motor combinations are withinthe scope of the invention. Preferably the sensor/motor combination willbe a closed loop control system. For many applications low vibration,and low noise are desirable. High speed, for example about 3000 rpm toabout 5000 rpm may also be desirable. In an illustrative embodiment ofthe invention, the resolution is in the range of about 1000 pulses perrevolution to about 10,000 pulses per revolution. In an alternativeembodiment a stepper motor or the like is used, which may lessen lagtime between the motion of the master sled and slave sled, but suchmotors are not closed loop and tend to have higher noise and vibration.

FIG. 4 shows an illustrative embodiment of the invention deployed forminimum lens height of camera 6. Arm 2 is depressed to the lower limitof its travel and balance pole 4 is angled downward. Camera 6 on slavesled 5 is aimed in a direction based on the orientation of Master sled3. In a particular embodiment of the invention, camera 6 remains aimedin the same direction as master sled 3. This is accomplished by sensing,preferably continuously, the momentary angle between master gimbal 3 band balance pole 4, or other spatial relationship that changes as mastersled 3 is repositioned, and reproducing that angle (or othermeasurement) by means of motors, such as servo motors, (not shown)arranged to drive, and thus synchronously reposition elements of slavegimbal 5 b.

The interconnection between the master and slave components can bemechanical or electrical. It is noted that the motors and sensor can behard-wired to one another or can be wirelessly connected. Mechanicalconnections can include tie rods, pulleys, gears or similar devices. Amechanical linkage connected in a manner based on parallelograms, suchas used in a pantograph to translate movement of a primary point to themovement of a secondary point can be adapted for use in embodiments ofthe invention. This can include amplification or reduction of movementfrom the primary to secondary point, or one-to-one correspondence.

The figures generally show a camera located at the slave end of theapparatus and a monitor located at the master end. In an alternativeembodiment of the invention, a camera is installed at both the slave andmaster ends of the apparatus for simultaneous filming.

FIG. 4 shows balance pole 4 as a telescoping component with atelescoping clamp 4 c. Pole 4 may also be non-telescoping.

FIG. 5 shows a closer view of master sled 3 according to an illustrativeembodiment of the invention. Gimbal 3 b is located just abovecenter-of-balance 3 c. Counterbalancing equipment 3 e, consists of upperequipment 7 a and lower equipment 7 b, including monitor 8. Variousother components can be including in the counterbalancing equipment suchas a camera CCU (camera control unit) and associated batteries,microwave transmitters, lens-control amplifiers, etc. Non-functionalmasses can also be used as weights. The operator's hand controls theattitude of master sled 3 at position 3 d (preferably as near aspossible to center of balance 3 c). Sensors 10, 11 and 12 detect theangular position (in three mutually perpendicular axes) of center post 3a relative to balance post 4. Balance post 4 is supported by gimbal 4 aat its own center of balance 4 b. Master sled 3 can be for example, inall respects a Steadicam® sled except that it does not necessarilyinclude a camera (which is instead mounted remotely, such as shown inFIGS. 4/5). Master sled 3 is rendered angularly inert by positioningmasses at selectable distances from the center post, and is isolated bygimbal 3 b and arm 2 from the unwanted motions of the operator.Preferably it is balanced to be slightly bottom heavy, adjusted to hangapproximately level, such as by vernier balance adjustments for example,and can be oriented in any angular direction by, for example theoperators hand at location 3 d. The apparatus can be configured to allowthe lightest touch of the operator's hand to orient master sled 3.Master sled 3 is rendered inert in all three axes of pan, tilt, and rollby selectively positioning the upper and lower sets of counterweightequipment 7 a and 7 b and monitor 8 at various distances from the centerpost. Sensors 10, 11 and 12 preferably operate substantiallyfrictionlessly, and therefore do not degrade angular stability. Mastersled 3 may thus provide a stable, angularly agile reference platformthat can be aimed at will by the operator, and thereby control theremotely positioned slave sled 5 and its attached camera 6. Master sled3 maintains its angular orientation even when balance pole 4 is beingelevated or traversed, and therefore so also does the slave sled 5 andcamera 6, which thus correspondingly both ‘backpans’ and ‘backtilts’ tonegate or reduce angular effects produced by traversing and/or elevatingbalance pole 4.

FIG. 6 is an enlarged view of the gimbal portion 3 b of the master sled3 showing sensors 10, 11, 12 according to an illustrative embodiment ofthe invention. In this embodiment, sensors 10, 11 and 12 are positionedmutually perpendicular to one another, and each senses rotation in oneof the three mutually perpendicular directions. The directions may befor example pan about the longitudinal center post axis, pitch about amaster sled gimbal axis perpendicular to the pan axis, and roll aboutthe balance pole longitudinal axis, which is mutually perpendicular tothe pan and pitch axes. Other sensor positioning and degrees of freedomincluded are within the scope of the invention. The momentary anglebetween center post 3 a and post 4 resolves into three mutuallyperpendicular component angles that are detected by the three sensors10, 11 and 12. Sensor 10 records the angle between center post 3 a andthe plane of a pan bearing race of gimbal 3. Sensor 11 records the anglebetween the plane of yoke 30 and center post 3 a. Sensor 12 records theangle between the plane of yoke 30 and post 4. These detected angles arethen transmitted to the analogous servo motors on slave sled gimbal 5 band reproduced so that the camera on slave sled 5 is synchronouslyaimed. Slave sled gimbal 5 b and counter weight equipment 5 c (shown inFIG. 4 for example) serve to keep slave sled 5 and camera 6 stabilizedduring repositioning resulting from servo motors 10, 11, 12.

FIG. 7 is an enlarged view of slave sled 5 showing the location of threeservo motors, 14, 15 and 16, as well as camera 6 and auxiliary monitor 9according to an illustrative embodiment of the invention. In response topositioning data produced based on motion of the master sled orcomponents thereon, motors 14, 15 and 16 continuously control theangular relationship between slave center post 5 d and balance pole 4,to correspond with that of the master sled. The result is that camera 6is always aimed in the same direction as the master sled, and theoperator can intuitively pan, tilt and roll the master sled and observe,by means of either a master monitor or the slave monitor 9, that hisintended camera moves are being accomplished. In alternative embodimentsof the invention, motion at the slave sled can be amplified, reduced, orhave a one-to-one correspondence with motion at the master sled. Therelationship between motion at the slave sled and master sled can beproportional, inversely proportional, or have another relationship asdictated by the sensor/motor system configurations and/or theconfiguration of the support system.

FIG. 7 depicts motor 16, which controls the axial angle between post 4and the plane of slave gimbal yoke 31. Motor 15 controls the anglebetween the plane of yoke 31 and a pan bearing race on slave gimbal 5.Motor 14 controls the angle between center post 5 d and theaforementioned slave bearing race. In a preferred embodiment, gimbal 5 bis positioned at slave sled center-of-balance 5 a and locked in placewith respect to post 5 d by clamp 17 so that the balance of slave sled 5would be neutral and have no influence on the angle of balance post 4with respect to post 5 d.

FIG. 8 shows an illustrative embodiment of the invention deployed insuch position and orientation as to shoot above and straight behind theoperator. Master sled 3 is aimed to the rear. Balance pole 4 is tiltedupward and to the rear. The operator views the correspondingly orientedremote image from camera 6 on master sled monitor 8. Such extreme tiltangles may increase the risk of collisions between some portion ofcounterweight equipment 3 e and pole 4, but these potentialinterferences are easily avoided by selecting appropriate body positionsand post angles for obtaining the desired shot. Since the operator isambulatory, camera angles that are potentially occluded by some part ofthe equipment can often be cleared by employing a slightly differentbody position.

FIG. 9 shows a super-extended illustrative embodiment of the invention,comprising an extra-long balance pole 4 deployed between master sled 3and slave sled 5. Extended balance pole 4 includes two segments 23, 24.In this configuration, pole segment 23 extends from gimbal 4 a at centerof balance 4 b to slave sled 5. Pole segment 24 extends from gimbal 4 ato master sled 3. By way of example, if the ratio of the distances fromgimbal 4 a to slave sled 5 and from gimbal 4 a to master sled 3 isapproximately 6:1, then the weight ratio between sleds 3 and 5(discounting the negligible weight of the balance pole) must be inverseand of the same 6:1 proportion. This may be accomplished by adding orremoving counterweights as required above and below the master sledgimbal 3 b, and then adjusting the lifting power of arm 2. One or moreoptional sets of stays 36 and associated shrouds 37 can reduce oreliminate flexing of balance pole 4, thereby substantially maintainingits columnar structure and maintaining its balance about itslongitudinal axis, as well as potentially reducing bouncing. Otherdevices to support or strengthen the balance pole can also be used,either separately or in conjunction with the stays and shrouds. Suitablechoice of materials, such as particular composites or alloys, mayeliminate or reduce the need for such devices. It is noted, however,that in some embodiments of the invention, the balance pole may not becolumnar, but can bow to some extent.

FIG. 10 shows an alternate embodiment of the invention in which thegimbal yokes 30 and 31 of the master and slave sleds both have hardconnections 19 and 20 to a rotatable, ‘active’ balance pole 18, and thusremain axially synchronized by mechanical means. This embodiment has ahandgrip 21 having annular bearings 21 a or other mechanism to isolatemovement of the handgrip and pole 18 from one another. Forces applied bythe operator to traverse and/or elevate post 18 are thus not transmittedangularly to post 18 and yokes 30 and 31, and master sled 3 thus remainsin substantial angular isolation, excepting only slight axial frictionfrom bearings 21 a or other isolating mechanism. This illustrativeembodiment of the invention requires only two sensors at the master sledgimbal, and two corresponding motors at the slave gimbal in order to beinterconnected in all three axes—one by mechanical means and two byelectrical means. Active balance pole 18 may optionally have one or moresets of shrouds and stays as illustrated in FIG. 9. Alternatively, or inaddition to the stays and shrouds, a balancing weight clamp 38 can serveto balance pole 18 about its longitudinal axis by positioning adjustableweight 41 externally to active balance pole 18. Thus, clamp collar 39,which is connected to balance pole 18, is rotated so that so thatthreaded rod 40 is pointed in the direction that needscounter-weighting. Clamp collar 39 is then secured to balance pole 18 soit no longer can rotate about it. Adjustable weight 41 is then dialedinward or outward on threaded rod 40 until balance pole 18 is axiallybalanced. Use of either shrouds-and-stays and/or balancing weight clamp38 can ensure that the balance of balance pole 18 does not affect theapparent individual balance of either master sled 3 or slave sled 5,about their centers of gravity.

FIG. 11 shows an enlarged view of the master sled gimbal 3 a showing themechanical attachment of yoke 30 to active post 18 by means of hardaxial connection 19. Two remaining rotation sensors, 10 and 11 implementthe servo connection of their respective axes to their counterparts onthe slave sled.

FIG. 12 shows an enlarged view of the slave sled yoke 31 of FIG. 10,which is attached by means of hard axial connection 20 to active balancepost 18. Motors 14 and 15 receive electrical impulses, for example fromservo-amplifiers, and synchronize their corresponding axes according tothe sensor inputs derived at the master sled so that camera 6 maintainsthe same angular attitude in all three axes as does the master sled.

FIG. 13 shows an enlarged view of an annular, axially isolated, handgrip21 for elevating and traversing the active balance pole 18 of theillustrative embodiment of the invention shown in FIG. 10, in which amechanical connection is substituted for one of the three servoconnections. Annular bearings 21 a prevent strong traversing and/orelevating motions of the handgrip from having an angular influence onpole 18.

FIG. 14 shows another illustrative embodiment of annular, axiallyisolated handgrip 21, in which a handgrip 22 is offset from, andadjustably hard-connected to, handgrip 21 to enable an operator to morecomfortably produce the motions and forces required to elevate andtraverse active balance pole 18 without having to distort his handgripposition to accommodate momentary angles of handgrip 21. This embodimentalso provides the angular axial isolation of grip 21 from pole 18 bymeans of annular bearings 21 a or other suitable mechanism.

FIG. 15 shows another hard-connected lightweight embodiment employingversions of master sled 34 and slave sled 35, neither of which requirescounterweights above or below its respective gimbals 3 b and 5 b becausea second axis of rotation is hard-interconnected by means of tie-rod 32.Other connecting devices can also be used, such as pulleys and belts orlines, or interconnecting tie wires, for example. Therefore, slave sled35 may carry only camera 6 above or below gimbal 5 b. Master sled 34 mayhave a smaller counterweight, or no counterweight proportionally aboveor below gimbal 3 b as required to balance the entire system as if allmasses were deployed on a single virtual center post. As in theembodiment shown in FIG. 12, balance pole 4 and master and slave gimbalyokes 30 and 31 have a hard-interconnect to one axis of rotation ofmaster sled 34 with respect to slave sled 35. Tie rod 32 is attached topivoting yokes 33 a, 33 b at the slave and master sled ends of pole 18,respectively. The hard connection between the master sled end and theslave sled end by virtue of tie-rod 32 and yokes 33 a, 33 b facilitatestransmitting the pivot angle of master sled 34 to slave sled 35. Theyokes are attached to pan bearings to isolate the yokes rotationallyfrom the center posts with which they are associated. Tie rod 32 canoptionally comprise tie rod hand relief bend 32 a to mitigateinterference between tie rod 32 and the operator's hand, such as mayoccur for example at extreme pitch angles of operation. This alsointerlocks a second axis of rotation, so that master sled counterweights7 b and 8 can serve to balance camera 6 as if mounted directly above andbelow each other on a single virtual center post, suspended by a singlevirtual gimbal. The result is that angular control of master sled 34 byan operator at handgrip position 3 d produces substantially identicalrotations of camera 6 on slave sled 35. Neither sled 34 nor 35 isindependently counterweighted to approximate neutral angular balance,but the interconnected combination of sleds 34, 35, balance pole 4, andpivoting yokes 30, 31 and 33 provide the same feel as if operating aconventional single-sled support device, such as a Steadicam®, yet withthe additional freedom to achieve extra-high and extra low lens heights;and to extend horizontally as shown. Synchronization in the respectivepan axes of master and slave sleds 34, 35 can be achieved by eithersensor/motor means or by means of tie-rods and cranks (see FIG. 16)and/or belts, lines and pulleys or gears such as a sector gear.

FIG. 16 shows support system that does not necessarily requireelectronic servo motor connections in which a multi-part tie rodsynchronizes both pitch motions and limited panning motions betweenmaster and slave sleds according to an illustrative embodiment of theinvention. Tie rods 42 extend between tie rod universal joints 43 andthus, rigidly attach the extremities of tie rod struts 46 but remainangularly disconnected in two axes by means of tie rod universal joints43. Tie rods 42 are therefore able to synchronize limited panningmotions between master and slave sleds. Tie rod relief bends 44 canincrease the angular range of panning motions by preventing earlyinterference between tie rods 42 and extended master and slave centerposts 45 a,b.

FIG. 17 illustrates another support structure that does not necessarilyrequire electronic servo motor connections in which toothed gears and abelt operate in conjunction with a tie rod to synchronize both pitch andpanning motions between master and slave sleds according to anillustrative embodiment of the invention. Toothed gears 48 and belt 49operate in conjunction with tie rod 32 to synchronize both pitch andpanning motions between master sled 3 and slave sled 5. Bevel-gear sets50 ab (shown in FIG. 18) intersect to transmit the panning motionsapplied to master sled 3 via belt 49 and gear wheels 48.

FIG. 18 provides further detail of the illustrative embodiment of FIG.17, showing the mechanical interconnection between master and slavesleds by a gear belt and bevel-gears to effect the synchronization ofpanning motions according to an illustrative embodiment of theinvention. The slave end of the mechanical interconnection betweenmaster sled 3 and slave sled 5 includes a pan control gear belt 49 andbevel-gear set 50 a and 50 b which transmit and synchronize panningmotions imparted to master sled 3 to slave sled center post 5 d. Slavesled tie rod yoke (which is disposed around an end portion of tie rod32) is pivotally attached to extended outer race tube 47 (which isdisposed around a portion of slave center post 5 d) and by means of tierod 32 also synchronizes the pitch angle between slave sled 3 and mastersled 5.

FIG. 19 diagrammatically depicts a support system with synchronizingcomponents disposed within a balance pole according to an illustrativeembodiment of the invention. Parallelogram tension cables 51 a, b runsubstantially parallel to one another and longitudinally through thebalance pole. They are pivotally connected by means of yokes 52 to eachof the slave and master support sections so that movement of the mastercenter post 3 a is replicated at the slave center post 5 d. Pan axesendless belt 53 extends between pan axes main drive gears 55 and guidedonto gears 55 by means of belt idler gears 54. Belt 53 is preferably a3-D toothed belt. Tension in wires 51 and belt 53 is to be maintained bythe incompressibility of balance pole 4, which is attached by yoke 30 tomaster gimbal 3 b and by yoke 31 to slave gimbal 5 b. Note that fordiagrammatic clarity, none of these is shown in FIG. 19.

FIG. 20 is an isometric view of an extendable camera support andstabilization apparatus in which three axes of master gimbal motion aremechanically reproduced at the slave gimbal by means of tie rods, linesand pulleys, according to an illustrative embodiment of the invention.Balance pole 104 has attached to it at one end, master gimbal yoke 130,which is connected to master sled 103. The other end of pole 104 isattached to slave sled gimbal yoke 131, which is connected to slave sled105. “Active” gimbal handle 166 is attached to tertiary active balancepole gimbal 114 via active handle offset 188 (shown in FIG. 24). Pulleytrees 156 are attached to outer race housings 160 of the slave andmaster gimbals. The master end in this embodiment and other illustrativeembodiments can be of the same configuration as the slave end of theapparatus.

The term “pulley tree” is used herein to designate a support bracket forvarious pulleys, of which some configurations are shown in FIGS. 20-23and 26-28. Tie-rods 159 are attached to pulley trees 156 by tie-rodpivot ends 163 (such as shown in FIG. 21). Pulley trees 156 also providemounts for pivot pulleys 158 and turning pulleys 157, which determinethe path of pan control endless line 161 (see FIG. 21 for example).Pivot pulleys are those attached to the same pivots as the tie-rods. Thepivot pulleys are attached to the outer race of the master of sledgimbals. The turning pulleys are also attached to the outer race of theslave and master gimbals. They accept endless line 161 from the mainpulley and change its direction, such as by approximately 90°, as shownin the FIG. 21 embodiment. Collectively, tie-rods 159, pivot pulleys158, turning pulleys 157, pan control line 161 and main pan pulleys 162cause three axes of master gimbal angular motion to be mechanicallyreproduced at the slave gimbal.

Since tie rods 159 and balance pole 104 form the long legs, and themaster and slave pulley trees 156 form the short legs of a functionalparallelogram, tie rods 159 serve to keep the master center post 101 andslave center post 102 substantially parallel to one another. Tie rods159 thus form the mechanical connection between master and slave sledsin the first of three axes of angular motion.

Balance pole 104 is hard connected to master and slave yokes 130 and131, and thus forms the mechanical interconnection in a second axis ofangular rotation.

A third axis of rotation is provided as follows: pan control drive line161 engages and interconnects main pan pulleys 162 of the master andslave sleds by spanning the fixed parallelogram distances established bypulley trees 156 and their associated turning pulleys 157 and pivotpulleys 158. Drive line 161 runs along tie-rods 159 such that an active,one-to-one relationship is established between the pan-angle position ofmaster sled 103 and that of slave sled 105, as if their respective mainpan pulleys 162 were directly connected by pan control endless line 161.

Note that operators of camera support apparatuses, such as Steadicam®assemblies, typically have a preference for either ‘left-handed’ or‘right-handed’ operation of their equipment. As detailed in FIG. 25, anddescribed further below, active handle 166 is removably attached to theouter bearing race extension 168 (see FIG. 24) of gimbal 114 by means ofremovable pins 167, or other removable fastening device. Thisarrangement is advantageous for operating the extendable camera supportand stabilizer, but it lacks the additional degree of rotational freedomtypical with Steadicam®-type gimbals, so if the camera needs to bedeployed on the opposite side from that shown here, active handle 166must be remounted on the opposite side of gimbal 114 before theequipment is attached to an articulated support arm, with which it istypically used.

FIG. 21 is an isometric view of the slave end of an extendable camerasupport and stabilization apparatus showing an arrangement of pulleytree, pivot pulleys, turning pulleys, main pan pulley and drive line inassociation with the slave gimbal, according to an illustrativeembodiment of the invention.

Pulley tree 156 is connected to slave gimbal outer race housing 160.Pulley tree 156 is further connected to tie-rods 159, pivot pulleys 158,turning pulleys 157 (one shown), main pan pulley 162 and pan controldrive line 161. The aforementioned components together cause therespective pan angles of the slave sled center post 102 and master sledcenter post 101 (shown in FIG. 20) to be actively and synchronouslyconnected. Slave gimbal yoke 131 and attached balance pole 104 form aleg of the parallelogram which synchronizes the angle of slave centerpost 102 with the master center post 101 (shown in FIG. 20).

FIG. 22 is an isometric view of the slave end of an extendable camerasupport and stabilization apparatus showing the drive line 161 positionwith respect to the turning pulleys 157 and those of the main pan pulley162 according to an illustrative embodiment of the invention. Pancontrol endless line 161 is disposed within flanges of turning pulleys157 and main pan pulleys 162 and situated either tangentially to orpartially around turning pulleys 157 and main pan pulleys 162. Note thatthis geometric relationship depends on the parallelogram relationshipbetween tie-rods 159, balance pole 104 and yokes 130, 131 (shown in FIG.20) and the respective master and slave end pulley trees 156.

Also note that as the “parallelogram” is elevated, the movement of line161 with respect to pivot pulleys 158 at the slave end is substantiallyidentically to its movement with respect to pivot pulleys at the masterend, and the result is that elevating moves, raising and lowering theslave sled relative to the master sled, do not cause main pan pulleys162 at either end of the parallelogram to alter either their absolute orrelative angular positions. Therefore, such elevating moves, assynchronized by tie-rods 159, can be accomplished without effect on thecamera pan axis.

FIG. 23 is an isometric view of the slave gimbal pulley tree showing anoptional vibration control idler roller assembly according to anillustrative embodiment of the invention. Gimbal pulley tree 156 hasidler roller assembly 164 attached thereto to dampen or eliminatevibration affecting central post 102, its respective outer race housing160, and/or pulley tree 156. An analogous configuration can be presentwith respect to center post 101 at the master end of the apparatus. Inthe event of pan bearing play between center posts 101 or 102 and gimbalouter race housings 160, pulley trees 156, attached by attachment screw180, will exhibit vibration with respect to the angular position ofcenter post 102, for example from the vertical. Idler roller assembly164 exerts unidirectional pressure on center post 102 and takes up theplay in one direction. Idler rollers 165, rotating on idler roller axles182 permit relative rotation of center post 102 and pulley tree 156without vibration. Slots 184 are provided into which attachment screwsare disposed. The slotted configuration allows idler roller assembly tobe loosened and the position of mounting bracket 186 can be adjustedtoward or away from center post 102 so that idler rollers 165 exert thedesired amount of pressure on it to dampen or eliminate vibration.

FIG. 24 is an isometric view of an ‘active’ gimbal handle assembly 166according to an illustrative embodiment of the invention. The activegimbal handle facilitates both traverse and elevation control and armpositioning, allowing the other hand to only delicately control angle ifnecessary. The traverse motion, for example being a generally lateralsweeping motion of the entire apparatus, and the elevation, beinggenerally a motion causing tilting of the balance pole. Outer raceextension 168 of gimbal bearing 144 is attached, preferably by removablemounting pins 167, to active handle offset support bracket 188.Rotational engagement with active handle grip 169 by an operator's hand,plus pressure on offset support bracket 188, such as by finger andthumb, will directly cause active balance pole 104 to elevate around thecenterline axis 190 of handle grip 169. Pivot bearings permit grip 169,separated by pivot gap 170 from arm post mount 171 to rotate aroundshaft 192. An articulated arm can be secured to gimbal handle assembly166 via a post that preferably rotatably engages arm post socket 194 sothat balance pole 104 can also be ‘traversed’ (rotated about axis 196 ofthe arm post) by means of pressure, such as by hand and finger/thumb ongrip 169 and offset bracket 188, for example.

FIG. 25 is a side view of the active gimbal handle 166 of FIG. 24illustrating the function of a notch 198 in the offset support bracket188 that accommodates tie rods 159 incursions at various elevationsduring rotation of balance pole 104 according to an illustrativeembodiment of the invention. Tie rods 159 are shown at two positions byreference numbers 172 a and 172 b. In this embodiment, notch 198 inoffset support bracket 188 accommodates tie rod incursions throughout anapproximate 80° rotation of active balance pole 104 around itslongitudinal axis. This degree of rotation might be obtained in certainangular moves of the camera at the slave end—such as, at times, whentilted up 80°. Diagrammatic tie-rod positions 172 b illustrate positionsat one extreme of tie-rod separation from balance pole 104—such as wouldprevail if the balance pole was level and the respective master andslave center posts were vertical. Diagrammatic tie-rod pair positions172 a illustrates positions (and incursion into the notch 198 in offsetof support bracket 188) at the opposite extreme—when balance pole wassimilarly rotated, but was elevated to an approximate 65° slant, withmaster and slave center posts still substantially vertical. It can beseen that tie-rod positions throughout these extremes of elevation andbalance pole tilt remain comfortably within the notch 198 of offset inhandle support bracket 188, and thus will not restrict, or reducerestriction of, these common operating maneuvers, such as would berequired to take advantage of the spatial and angular agility of anextendable camera support and stabilization apparatus according toembodiments of the invention.

Further, pivot centerline 190 preferably precisely intersects the commoncenters of gimbal 114 and active balance pole 104, and thus will causeno elevating bias and so will remain at any elevational tilt set byhand-positioning grip 169. Traversing rotations of active balance pole104 around arm post axis 196, are effected by rotating grip 169 aboutthe axis. The axis coincides, for example, with an arm-mounting post ona support arm end block 200 by bearing means to effect rotation. The armpreferably being an articulated equipoising arm.

Note that, as disclosed in FIG. 20, active handle 166 is hard attachedto outer race housing 160 by means of removable pins 167. Operatorstypically have a preference for ‘left-handed’ or ‘right-handed’operation of Steadicam®-type assemblies. Steadicam® gimbals normallyhave an additional degree of rotational freedom, obtained here only byrotation about the arm post. The consequence is that handle 166 has afixed angular relationship to balance pole 104, such that slave andmaster sleds cannot be easily swapped to the opposite side. (simplyrotating the balance pole 180° about the handle pivot would cause bothsleds to be upside down. Therefore, switching from, say, left-handed toright-handed operation is accomplished by ‘docking’ the entireextendable camera assembly, dismounting it from the arm, removingmounting pins 167, remounting handle 166 on the opposite side, and thenpicking the assembly up once again by means of the arm mounting post.

FIG. 26 is a perspective view of a further illustrative embodiment of anoptional vibration control idler tree assembly. Idler tree assembly 174includes turning pulley bracket 175, standoff supports 179 (in this casetubes or solid cylindrical posts), idler body 178 with idler rollers202, and idler body gate 176, shown here by example in its closedposition, as associated with master sled gimbal 210. It is noted thatthe same or similar assembly can be employed at the slave sled end ofthe extendable support and stabilization apparatus. Generally the “idlertree” is a support system for various pulleys and vibrations dampingcomponents. The idler tree preferably attaches to the master of sledgimbal outer housing. Turning pulley bracket 175 is attached to gimbalouter race 160, such as by mounting screws 204 and forms a base foridler tree assembly 174. Standoff supports 179 support idler tree gate176, which is hinged at idler body gate hinge 177. Idler tree gate hingelocking screw 206 secures idler body gate 176 in the closed position,thereby positioning idler body 178 against central post 101. Idler treeassembly 174, thus can position pivot pulleys 158 and tie rod pivot ends163 exactly to either side of the vertical center-line of center post101, and maintain the selected distance above gimbal yoke pivot 208.

Idler tree assembly 174 includes a plurality of idler rollers 202 (twoof three visible in this example) that directly or indirectly contactcenter post 101 while permitting its free rotation and controlling theaxial position of center post 101 with respect to pivot pulleys 158 andtie rod pivot ends 163. Thus, vibration between center post 101 andtie-rod pivot ends 163 and tie-rods 159 caused, for example by bearingplay, such as in master gimbal 210, is reduced or eliminated.

Use of the idler roller assembly shown in FIG. 23 can also diminish thisvibration by forcing the orientation of the associated center post toone extremity of the available pan-bearing play, but might causeadditional friction since the bearing is not permitted to hang in itsnormal centered, pre-loaded condition. Use of idler tree assembly 174 ofthis illustrative embodiment can lightly fix the angle of the associatedcenter-post (101 in this figure) with reference to the tie rod ends andpermit it to maintain a substantially centered, preloaded orientation.

FIG. 27 is an opposite perspective view of idler tree assembly 174 shownwith gate 176 in an open position according to an illustrativeembodiment of the invention. With gate 176 open, idler tree assembly 174can be removed. Gate 176 can be rotated about hinge 177 by firstwithdrawing hinge locking screw 206 and gate hinge locking screws 204.Gate hinge locking screws 204 are inserted in tapped holes 212 to secureidler tree assembly 174 to gimbal outer race housing 160 when apparatusis in an operative position. As can be seen from FIG. 27, idler treeassembly 174 can be entirely removed, for example to facilitate packingand shipping.

FIG. 28 depicts a further illustrative embodiment of the invention thatmay reduce or eliminate vibration related to movement of a center postwith respect to the gimbal. In this embodiment, a second gimbal 216 isdisposed around center post 101 and/or 102 above gimbal 210 or 214,respectively. Preferably both lower and upper gimbals are connected to acommon inner race 218, thus setting the distance between upper gimbal216 with respect to lower gimbal 210, and maintaining a consistentparallelogram structure. If two tie rods 159 are included in theextendable support and stabilization apparatus, the first tie rod can beconnected to a first gimbal yoke pivot 163 a and the second tie rod canbe connected to a second gimbal yoke pivot 163 b opposite the firstgimbal yoke pivot 163 a. In an alternative embodiment of the invention,a single tie rod is connected to the yoke in an analogous manner to theconnection between the lower gimbal yoke and the balance pole. The pancontrol endless line can be disposed around the main pan pulley at thelower gimbal or around an analogous pulley associated with the innerrace tube between the upper and lower gimbals. Various pulleyarrangements can achieve the desired replication of motion between theslave sled and the master sled, and are within the scope of theinvention.

Existing Steadicam®-type systems can be adapted or retrofitted with thevarious pulley and tie rod systems described herein, including thevibration control devices. For example, the inner race of a gimbaldisposed around a center post can be grooved to accommodate a pulleyline and serve as a main pan pulley, or the existing inner race can bereplaced with a grooved inner race for that purpose. A pulley tree withvarious pulleys such as pivot and turning pulleys can be added.

FIG. 29 is an isolated perspective view of tertiary gimbal outer race302 with outer race extensions 304, attached resilient pads 306 a, b, c,d and bored hole 308 for pivot axle (shown in FIG. 30). The tertiarygimbal out race may be disposed around a balance pole or a sleevedisposed around the balance pole.

FIG. 30 is a perspective view showing tertiary balance pole gimbal outerrace 302 of FIG. 29 operatively associated with active handle supportbracket assembly 312 and swiveled about pivot axle 314 into an angularlydeflected position with respect to support bracket 312 such that oneresilient pad 306 a is compressed against support bracket flange 324,thus limiting the possible angular excursion therebetween. Opposingresilient pad 306 b is in a non-compressed state. Preferably, theexcursion is limited to approximately ±10°. As a result of thisresilient damping, minute, unwanted angular motions imparted to arm postmount 316 by the mass-in-motion of the support arm segments (not shown)will not be transmitted to outer race 302, and thus to a balance poledisposed through it and any associated equipment, such as cameras.Deliberate gross angular inputs imparted by motions of grip 318, howeverwill result in appropriate elevations and traverses of the balance pole.

FIG. 31 and FIG. 32 depict outer race 302 and support bracket assembly312 of FIG. 30. FIG. 31 shows one of outer race extensions 304 withassociated resilient pads 306. Offset support bracket assembly 312 isshown in FIG. 32 including pivot axle 314 and a bearing assembly thatwill engage bore-hole 308 (shown in FIG. 29) in outer race 302.

FIG. 33 and FIG. 34 show perspective views of active handle assembly 320with outer race 302 pivoted to compress resilient pad 306 a againstflange extensions 324 of offset support bracket assembly 312, thuslimiting the angular excursion of outer race 302 with respect to flangeextensions 324. In FIG. 34, offset support bracket assembly 312 isrendered transparently to illustrate its relationship to resilient pads306 a,b, outer race extensions 304 and pivot axle 314 and associatedbearings assembly. Active gimbal handle 320 is similar to active gimbalhandle 166 shown in FIG. 24 and FIG. 25, except handle 320 is providedwith additional angular isolation from small unintentional motionsimparted to arm post socket 316. Gross intentional angular motionsimparted to grip 318 are closely and smoothly replicated bycorresponding angular motions transmitted to outer race 302. However,unintentional, small, angular motions imparted to active gimbal handle320 are dampened and averaged out by the isolating action of pivot 314and resilient bumpers 306 contained within support bracket flanges 324.

Like active gimbal handle 166, active gimbal handle 320 includes anoffset support bracket assembly 312, having a notched area 322 toaccommodate tie rods.

FIG. 35 depicts a handle assembly 400 according to an illustrativeembodiment of the invention. Handle assembly 400 includes a gimbalassembly having an outer race 402 and an inner race (not shown),associated balance pole sleeve 404, through which a balance pole can bedisposed. As used herein, “outer race” refers to all parts rotating withthe outer race of a bearing. Balance pole sleeve 404 is fixedly attachedto the inner race, thus rotatably attached to the outer race. The handleassembly is configured to be functionally connected to, andlongitudinally slidably disposed on, the balance pole. The gimbal outerrace 402 is fixedly attached to a handle support bracket 406 toward aproximate end of the handle support bracket. This attachment ispreferably substantially without movement. Handle support bracket 406can be attached to outer race 402 via an extension such as partiallyshown as part 418. The handle support bracket 406 is further attached toa handle grip 408. An arm mount bracket 410 having distal and proximateends is rotatably attached at its proximate end to handle supportbracket 406 toward a proximate end of handle support bracket 406. An armmount 412 is rotatably attached to arm mount bracket 410 distal end. Aresilient component 414 is functionally arranged with respect to armmount bracket 410 and handle support bracket 406 to limit rotation ofthe brackets with respect to one another and to dampen associatedmotion. Resilient component 414 is shown as an elastic band but can bevarious others types of components, such as a spring-based mechanism orrubber-based travel restraining bumpers. Generally, the rotation betweenarm mount bracket 410 and handle support bracket 406 should be limitedto approximately ±20°. Mechanisms that limit rotation to that amount orthe desired amount for the application, and which eliminate or dampenhard stops at the extremes of motion are suitable. The mechanisms shouldalso not interfere with tie rods that may need to enter into notch 416.Illustrative ranges of rotation between arm mount bracket 410 and handlesupport bracket 406 include about ±30°; and about ±30°. Generally therange will be approximately evenly split on each side of the bracket.

The illustrative design shown in FIG. 35 has two perpendicular axes 420,422 of gimbal swivel, which converge at the approximate center of thebalance pole. A balance pole would be situated, for example, within the“clamp-tube” (balance pole sleeve) shown.

The invention also includes methods of using and making the devicesdescribed herein.

Various embodiments of the invention have been described, each having adifferent combination of elements. The invention is not limited to thespecific embodiments disclosed, and may include different combinationsof the elements disclosed.

Some or all of the following attributes may be present in embodiments ofthe invention in addition to or in place of any other features describedherein:

-   -   a simple, inexpensive, compact body- or vehicle-supported mount        for lightweight cameras that can be extended at a distance from        the operator in any direction and reach lens-heights from ‘floor        to ceiling’, without undue exertion and with intuitive,        accurate, local, three-axis angular control over the extended        camera;    -   extended reach and angular agility so that stabilized shots can        be made that preferably include unrestricted and intuitive        angular control of the camera, as well as large lateral and        vertical displacements from the operator's position;    -   continuous vertical range of motion in a body-mounted camera        stabilizing devices, with the elimination of low-mode brackets,        low-mode conversions;    -   a multi-sectional telescoping post, which can be elongated to        facilitate high lens-heights and, extra-low lens heights in ‘low        mode, without the angular inertia in the ‘tilt’ axis becoming        disproportionately large compared with the unchanged angular        inertia in the ‘pan’ axis to provide a less cumbersome device to        operate and which remains angularly agile as well as stabilized;    -   a structurally simple and electronically uncomplicated        improvement in the functionality and angular agility of        body-mounted ‘roll-cage’ camera stabilizing devices, which does        not require expensive, level-sensing, gyro-and-pendulum        integrating computers to preserve the level attitude of the        camera;    -   three-axis angular control of a remotely positioned camera head        without having to elevate or traverse a long sled center post;    -   improved angular agility as compared to conventional        pole-mounted camera supports, so that they can be remotely        panned and tilted (and rolled) with intuitive precision, rather        than controlled by means of awkward and non-intuitive        ‘joysticks,’ which do not inherently ‘back-pan’;    -   improved angular stability as compared to conventional        pole-mounted camera supports, so that they can provide level and        stable shots even during violent dynamic motion, and still        facilitate precision operator control;    -   improved angular control as compared to conventional extended        pole-mounted camera supports, so that they automatically        ‘back-pan’ (meaning that as the pole traverses horizontally or        ‘booms’ vertically, the camera's angular attitude is not        correspondingly altered, and is therefore much easier to        consistently and precisely ‘aim’ at a distant subject;    -   a ‘pole-mounted’ camera that can selectively pan and tilt more        than 360° without seeing its own local supporting structures        within the shot.    -   a support system for extremely light camera chip/lens        combinations, such as, for example, those weighing less than one        pound, which can still be stabilized by the angular inertia of a        larger, heavier structure;    -   a camera support and operational system that provides extremely        low and high lens positions, but does not require protracted        bodily exertions to accomplish these shots;    -   a support system having fully-isolated inertial stability, but        adapted to servo-control a one-to-one ‘master/slave’        relationship between the momentary angular attitude of a master        sled (optionally without a camera) and that of a miniature slave        sled, with attached lightweight camera, mounted, respectively,        at the extreme ends of an intervening, extended balance pole;    -   remote facilitation of angular and spatial control of        lightweight video cameras by means that are stable and        repeatable and do not add additional angular inertia at extreme        high/low elevations or lateral extensions;    -   a continuous ‘boom’ range (range of dynamic vertical motion)        that permits the lens to elevate from ‘floor to ceiling’ at        will, and traverse horizontally without applying any angular        disturbance to the master sled;    -   the momentary dynamic tri-axial relationship of the master sled        center post to the attached balance pole reproduced        approximately one-for-one at the other end with respect to the        center post of the slave sled and its associated camera, so that        its angular relationship to the longer lightweight end of the        balance pole continuously mimics that of the master sled to the        shorter, heavy end of the pole;    -   primary view finding of the image generated by the camera on the        slave sled, via a conventionally positioned monitor on the        master sled;    -   secondary view finding by means of an additional monitor, which        acts as counterweight for the slave sled and a way to view the        image when the operator's attention must be concentrated on the        proximity of the slave sled to any obstacles;    -   a small, compact camera head that can penetrate small openings,        yet preserve locally independent pan/tilt/roll capabilities; and        that can even be moved from inside a moving vehicle out into the        slipstream without transmitting any wind buffeting to the        stabilizing mass of the master sled sequestered inside the        vehicle;    -   control of two cameras simultaneously: one on the master sled        and an optionally smaller one on the slave sled at the far end        of the extended balance pole, such that angular direction of the        latter is “slaved” to that of the former and the operator can        supply, for example, simultaneous wide and close-up shots of a        scene;    -   modular configuration for addition of lightweight pole segments,        or ‘super-post’ telescoping segments, or dynamically extending        and retracting segments such that the camera can be        hyper-extended as much as 20 or more feet from the ambulatory        operator, yet remain stable, intuitively controlled and        automatically ‘back-panned’ and ‘back-tilted’ for consistent        aiming, as the extra-long balance pole is elevated and        traversed; and    -   remote control of a slave camera extended on a balance pole        without the necessity of locally counterweighing the mass of the        camera at the slave end, thus facilitating the use of heavier        cameras.

While this invention has been described with respect to the preferredand simplified embodiments above, it is to be understood that variousalterations and modifications can be made to components of the stable,extendable, angularly agile camera support within the scope of thisinvention. For example, although the invention is particularlyapplicable to use with cameras, the invention can be used to support,aim, position and/or stabilize other types of equipment or tools.

1. A support system comprising: a balance pole with a primary end and asecondary end; a primary gimbal apparatus having a primary yokenon-rotatably connected to the primary end of the balance pole; asecondary gimbal apparatus having a secondary yoke non-rotatablyconnected to the secondary end of the balance pole; a tertiary gimbalattached to the balance pole at its center of balance so that thebalance pole can rotate within it to provide a first degree of angularconnection between the primary and secondary yokes; and a mechanism toreplicate the motion of the primary gimbal at the secondary gimbal. 2.The support system of claim 1 further comprising: one or more primarycomponent masses connected to and balanced around the balance poleprimary end with the primary gimbal apparatus; and one or more secondarycomponent masses connected to and balanced around the balance polesecondary end with the secondary gimbal apparatus.
 3. The support systemof claim 2 wherein the motion replicating mechanism comprises one ormore rigid connections causing the primary component masses to be fixedwith respect to the secondary component masses with respect to rotationabout one or more axes of rotation.
 4. The support system of claim 3wherein the primary component masses are fixed with respect to thesecondary component masses with respect to rotation about the pitchaxis.
 5. The support system of claim 3 wherein the primary componentmasses are fixed with respect to the secondary component masses withrespect to rotation about the yaw axis.
 6. The support system of claim 3wherein the primary component masses are fixed with respect to thesecondary component masses via one or more tie-rods.
 7. The supportsystem of claim 2 wherein the secondary component masses include acamera.
 8. The support system of claim 2 wherein the primary componentmasses and the secondary component masses each includes a camera.
 9. Thesupport system of claim 2 wherein the primary component masses include amonitor and the secondary component masses include a camera.
 10. Thesupport system of claim 1 wherein the motion replicating mechanismcomprises: one or more sensors that detect the rotational motion aboutone or more axes of rotation of the primary gimbal; and one or moremotors functionally connected to the secondary gimbal to impartrotational motion about one or more axes of rotation of the secondarygimbal; wherein the one or more motors impart the rotational motionbased upon signals received from the one or more sensors, therebyreplicating the motion about the axes of rotation of the primary gimbalabout the axes of rotation of the secondary gimbal.
 11. The supportsystem of claim 10 wherein at least one of the sensors and at least oneof the motors form a closed loop.
 12. The support system of claim 11wherein at least one of the motors is a servo motor.
 13. The supportsystem of claim 1 wherein the balance pole is telescopic.
 14. Thesupport system of claim 1 further comprising: one or more shrouds andone or more stays to reduce bowing of the balance pole.
 15. The supportsystem of claim 1 wherein the mechanism to replicate the motion of theprimary gimbal at the secondary gimbal comprises: cables disposed withinthe balance pole.
 16. A support system comprising: an articulated armattached to a support system as in claim
 1. 17. A method of balancingand utilizing equipment comprising: providing a support system as inclaim 1; balancing the primary component masses with respect to oneanother at the primary end; balancing the secondary component masseswith respect to one another at the secondary end; balancing the balancepole about its longitudinal axis; balancing the primary masses withrespect to the secondary masses about the balance pole; and moving theprimary gimbal apparatus, thereby replicating the movement in thesecondary gimbal apparatus while maintaining the approximate balance ofthe component masses.
 18. The support system of claim 1 furthercomprising: a handle assembly having: a gimbal configured to befunctionally connected to, and longitudinally slidably disposed on, thebalance pole; the gimbal having an outer race; the gimbal outer raceattached to a handle support bracket toward a proximate end of thehandle support bracket; the handle support bracket further attached to ahandle shaft at a distal end of the handle support bracket, the handleshaft extending in a direction substantially perpendicular to a centerline of the balance pole when the handle assembly is functionallyconnected to the balance pole; and a grip disposed about the handleshaft and rotatable about a longitudinal axis of the handle.
 19. Amethod of balancing and utilizing equipment comprising: providing asupport system as in claim 1; moving the primary gimbal, therebyreplicating the movement in the secondary gimbal while maintainingapproximate balance of the system.
 20. A gimbal and handle apparatus foruse with a support system having a balance pole comprising: a handleassembly having: a gimbal configured to be functionally connected to,and longitudinally slidably disposed on, the balance pole; the gimbalhaving an outer race; the gimbal outer race non-rotatably attached to ahandle support bracket toward a proximate end of the handle supportbracket; the handle support bracket further attached to a handle grip,the handle grip extending in a direction substantially perpendicular toa center line of the balance pole when the handle assembly isfunctionally connected to the balance pole; an arm mount bracket havingdistal and proximate ends, the arm mount bracket rotatably attached atits proximate end to the handle support bracket toward a proximate endof the handle support bracket; an arm mount rotationally attached to thearm mount bracket distal end; and a resilient component functionallyarranged with respect to the arm mount bracket and the handle supportbracket to limit rotation of the brackets with respect to one anotherand to dampen associated motion.
 21. The support system of claim 20wherein the handle assembly is configured to be attached to the gimbalouter race for either right-handed or left-handed use.
 22. A method formodifying a camera support and stabilization system comprising:providing a camera support and stabilization system; adding a gimbal andhandle apparatus according to claim
 20. 23. An extension pole for acamera support system comprising: a gimbal and handle apparatusaccording to claim
 20. 24. A camera support system having an extensionpole according to claim
 23. 25. A support system comprising: a balancepole with a primary end and a secondary end; a primary gimbal apparatushaving a primary yoke non-rotatably connected to the primary end of thebalance pole; a secondary gimbal apparatus having a secondary yokenon-rotatably connected to the secondary end of the balance pole; atertiary gimbal attached to the balance pole at its center of balance sothat the balance pole can rotate within it to provide a first degree ofangular connection between the primary and secondary yokes; and amechanism to replicate the motion of the primary gimbal at the secondarygimbal; wherein the primary and secondary gimbal apparatuses providethree degrees of angular freedom.
 26. A support system comprising: abalance pole with a primary end and a secondary end; a primary gimbalapparatus having a primary yoke non-rotatably connected to the primaryend of the balance pole; a secondary gimbal apparatus having a secondaryyoke non-rotatably connected to the secondary end of the balance pole; atertiary gimbal attached to the balance pole at its center of balance sothat the balance pole can rotate within it to provide a first degree ofangular connection between the primary and secondary yokes; a mechanismto replicate the motion of the primary gimbal at the secondary gimbal;one or more primary component masses connected to and balanced aroundthe balance pole primary end with the primary gimbal apparatus; and oneor more secondary component masses connected to and balanced around thebalance pole secondary end with the secondary gimbal apparatus; whereinthe motion replicating mechanism comprises one or more rigid connectionscausing the primary component masses to be fixed with respect to thesecondary component masses with respect to rotation about one or moreaxes of rotation; and wherein the primary component masses are angularlysynchronized with respect to the secondary component masses via one ormore pulleys and belts.
 27. A support system comprising: a balance polewith a primary end and a secondary end; a primary gimbal apparatushaving a primary yoke non-rotatably connected to the primary end of thebalance pole; a secondary gimbal apparatus having a secondary yokenon-rotatably connected to the secondary end of the balance pole; atertiary gimbal attached to the balance pole at its center of balance sothat the balance pole can rotate within it to provide a first degree ofangular connection between the primary and secondary yokes; a mechanismto replicate the motion of the primary gimbal at the secondary gimbal;one or more primary component masses connected to and balanced aroundthe balance pole primary end with the primary gimbal apparatus; and oneor more secondary component masses connected to and balanced around thebalance pole secondary end with the secondary gimbal apparatus; ahandgrip connected to, but freely rotatable about, the balance pole;wherein the motion replicating mechanism comprises one or more rigidconnections causing the primary component masses to be fixed withrespect to the secondary component masses with respect to rotation aboutone or more axes of rotation; and wherein the primary and secondarygimbals provide only two degrees of angular freedom each, the degrees ofangular freedom being the same degrees of angular freedom for eachgimbal.
 28. The support system of claim 27 comprising at least oneannular bearing positioned to allow the handgrip to be freely rotatableabout the balance pole.
 29. The support system of claim 28 furthercomprising an offset handgrip component adjustably connected to thehandgrip.
 30. A support system comprising: a balance pole with a primaryend and a secondary end; a primary gimbal apparatus having a primaryyoke non-rotatably connected to the primary end of the balance pole; asecondary gimbal apparatus having a secondary yoke non-rotatablyconnected to the secondary end of the balance pole; a tertiary gimbalattached to the balance pole at its center of balance so that thebalance pole can rotate within it to provide a first degree of angularconnection between the primary and secondary yokes; a mechanism toreplicate the motion of the primary gimbal at the secondary gimbal; anda balance clamp disposed around the balance pole and having a weightwith an adjustable location on the clamp to balance the balance poleabout its longitudinal axis.
 31. The support system of claim 30 whereinthe balance clamp comprises: a weight threadedly attached to a rod, therod positioned so the weight can be dialed inward or outward on threadedrod until the balance pole is balanced about its longitudinal axis. 32.A support system comprising: a balance pole with a primary end and asecondary end; a primary gimbal apparatus having a primary yokenon-rotatably connected to the primary end of the balance pole; asecondary gimbal apparatus having a secondary yoke non-rotatablyconnected to the secondary end of the balance pole; a tertiary gimbalattached to the balance pole at its center of balance so that thebalance pole can rotate within it to provide a first degree of angularconnection between the primary and secondary yokes; a mechanism toreplicate the motion of the primary gimbal at the secondary gimbal; andwherein the mechanism to replicate the motion of the primary gimbal atthe secondary gimbal comprises: a primary tie strut pivotally attachedto the primary center post and having a first universal joint at a firstend and a second universal joint at a second end; a secondary tie strutpivotally attached to the secondary center post and having a firstuniversal joint at a first end and a second universal joint at a secondend; a first tie rod longitudinally disposed between the primary strutfirst universal joint and the secondary strut first universal joint; anda second tie rod substantially parallel to the first tie rod andlongitudinally disposed between the primary strut second universal jointand the secondary strut second universal joint.
 33. A support systemcomprising: a balance pole with a primary end and a secondary end; aprimary gimbal apparatus having a primary yoke non-rotatably connectedto the primary end of the balance pole; a secondary gimbal apparatushaving a secondary yoke non-rotatably connected to the secondary end ofthe balance pole; a tertiary gimbal attached to the balance pole at itscenter of balance so that the balance pole can rotate within it toprovide a first degree of angular connection between the primary andsecondary yokes; a mechanism to replicate the motion of the primarygimbal at the secondary gimbal; and wherein the mechanism to replicatethe motion of the primary gimbal at the secondary gimbal comprises: atie rod extending from a primary race tube to a secondary race tube, theprimary race tube disposed about a primary center post, the primarycenter post disposed through the primary gimbal, the secondary race tubedisposed about a secondary center post, the secondary center postdisposed through the secondary gimbal, the tie rod having a primary endand a secondary end with a gimbal at each end; the primary race tubehaving a primary toothed gear attached thereto and the secondary racetube have a secondary toothed gear attached thereto; and a beltfunctionally compatible with and connected to the toothed gears.
 34. Asupport system comprising: a balance pole with a primary end and asecondary end; a primary gimbal apparatus having a primary yokenon-rotatably connected to the primary end of the balance pole; asecondary gimbal apparatus having a secondary yoke non-rotatablyconnected to the secondary end of the balance pole; a tertiary gimbalattached to the balance pole at its center of balance so that thebalance pole can rotate within it to provide a first degree of angularconnection between the primary and secondary yokes; a mechanism toreplicate the motion of the primary gimbal at the secondary gimbal; andwherein the mechanism to replicate the motion of the primary gimbal atthe secondary gimbal comprises: cables disposed within the balance pole;and a belt and gear system in functional relationship to the cables. 35.A support system comprising: a balance pole with a primary end and asecondary end; a primary gimbal apparatus having a primary yokenon-rotatably connected to the primary end of the balance pole; asecondary gimbal apparatus having a secondary yoke non-rotatablyconnected to the secondary end of the balance pole; a tertiary gimbalattached to the balance pole at its center of balance so that thebalance pole can rotate within it to provide a first degree of angularconnection between the primary and secondary yokes; a mechanism toreplicate the motion of the primary gimbal at the secondary gimbal. oneor more primary component masses connected to and balanced around thebalance pole primary end with the primary gimbal apparatus; one or moresecondary component masses connected to and balanced around the balancepole secondary end with the secondary gimbal apparatus; wherein themotion replicating mechanism comprises one or more rigid connectionscausing the primary component masses to be fixed with respect to thesecondary component masses with respect to rotation about one or moreaxes of rotation; wherein the primary component masses are fixed withrespect to the secondary component masses via one or more tie-rods; aprimary pulley tree attached to an outer race housing of the primarygimbal; a secondary pulley tree attached to an outer race housing of thesecondary gimbal; a primary center post disposed within an inner race ofthe primary gimbal; a secondary center post disposed within an innerrace of the secondary gimbal; wherein the one or more tie rods aredispose substantially parallel to the balance pole and to one anotherand extend from the primary pulley tree to the secondary pulley tree,each tie rod attached pivotally at each pulley tree, such that thebalance pole, tie rods and center posts form a parallelogram, whichprovides a second degree of angular connection between the primary andsecondary center posts; and wherein each pulley tree has a plurality ofpulleys functionally connected with an endless line such that motion ofthe primary gimbal is replicated at the secondary gimbal to provide athird degree of angular connection.
 36. The support system of claim 35wherein each pulley tree includes: two pivot pulleys; and two turningpulleys; and wherein the endless line is disposed at least partiallyaround a primary main pan pulley and a secondary main pan pulley,respectively connected to the primary and secondary gimbal inner races,and further disposed at least partially around each turning pulley andeach pivot pulley, and further along the length of and in the directionof each tie rod.
 37. The support system of claim 35 further comprising:at least one vibration control system to dampen vibration imparted to acenter post.
 38. The support system of claim 37 wherein the vibrationcontrol system comprises: a mounting bracket rigidly attached to apulley tree and at least partially encircling a center post; and themounting bracket having a plurality of idler rollers, the mountingbracket adjustably positioned to allow the idler rollers to contact thecenter post.
 39. The support system of claim 38 wherein at least oneidler roller is adjustable in a single radial direction with respect tothe center post.
 40. The support system of claim 35 wherein at least oneof the pulley trees further includes a vibration control system, thepulley tree comprising: an idler body hingedly attached to an idler bodygate and disposed partially around the associated primary or secondarycenter post; the idler body gate and idler body having at least oneidler roller each, the idler tree gate and idler body combinationadjustably positioned to allow the idler rollers to contact theassociated center post; one or more idler body standoff supportsattached to either the idler body or idler body gate to space the idlerbody and idler body gate a distance from the gimbal; the standoffsupports further attached to a base; the base attached rigidly to thegimbal outer race housing; the pulleys rigidly attached to the idlerbody and the base; and an adjustment device to adjustably position theidler gate, idler body or both, so the idler rollers contact theassociated center post.
 41. The support system of claim 40 wherein: twopivot pulleys are disposed on the idler body; and two turning pulleysare disposed on the idler gate.
 42. A support system comprising: abalance pole with a primary end and a secondary end; a primary gimbalapparatus having a primary yoke non-rotatably connected to the primaryend of the balance pole; a secondary gimbal apparatus having a secondaryyoke non-rotatably connected to the secondary end of the balance pole; atertiary gimbal attached to the balance pole at its center of balance sothat the balance pole can rotate within it to provide a first degree ofangular connection between the primary and secondary yokes; a mechanismto replicate the motion of the primary gimbal at the secondary gimbal;and a handle assembly comprising: a balance pole gimbal in functionalconnection to, and longitudinally slidably disposed on, the balancepole; the balance pole gimbal having an outer race; the balance polegimbal outer race attached to a handle support bracket at a proximateend of the handle support bracket; the handle support bracket having anotch to accommodate the tie rods as the support system is rotated; thehandle support bracket further attached to a handle shaft at a distalend of handle support bracket, the handle shaft extending in a directionsubstantially perpendicular to a center line of the balance pole; a gripdisposed about the handle shaft and rotatable about a longitudinal axisof the handle; and an arm mounting assembly attached to a distal end ofthe handle shaft to mount a support arm, the arm mounting assemblyrotatable with respect to the support arm about a substantially verticalaxis, which is substantially perpendicular to the longitudinal axis ofthe handle shaft.
 43. The support system of claim 42 further comprising:one or more handle support bracket connection components disposed on thebalance pole gimbal outer race; one or more components complimentary tothe handle support bracket connection components disposed on the handlesupport bracket; and resilient components disposed between the balancepole gimbal outer race handle support bracket connection components andthe complimentary connection components so that motion of the handlesupport bracket substantially perpendicular to the longitudinal axis ofthe handle shaft will be dampened by the resilient components.
 44. Thesupport system of claim 43 wherein: the one or more handle supportbracket connection components are extensions that protrude from thebalance pole gimbal outer race substantially perpendicularly to thebalance pole; the complimentary components are substantially u-shapedsuch that the one or more extensions are disposed within the u-shapedcomplimentary components; and the resilient components are disposed oneither side of the one or more extensions between the extensions and thecomplimentary components.
 45. A gimbal and handle apparatus for use witha support system having a balance pole comprising: a handle assemblyhaving: a gimbal configured to be functionally connected to, andlongitudinally slidably disposed on, the balance pole; the gimbal havingan outer race; the gimbal outer race non-rotatably attached to a handlesupport bracket toward a proximate end of the handle support bracket;the handle support bracket further attached to a handle grip, the handlegrip extending in a direction substantially perpendicular to a centerline of the balance pole when the handle assembly is functionallyconnected to the balance pole; an arm mount bracket having distal andproximate ends, the arm mount bracket rotatably attached at itsproximate end to the handle support bracket toward a proximate end ofthe handle support bracket; an arm mount rotationally attached to thearm mount bracket distal end; a resilient component functionallyarranged with respect to the arm mount bracket and the handle supportbracket to limit rotation of the brackets with respect to one anotherand to dampen associated motion; and an arm mounting assembly attachedto a distal end of the arm mount bracket to mount a support arm, the armmounting assembly rotatable with respect to the support arm about asubstantially vertical axis, which is substantially perpendicular to thelongitudinal axis of the handle grip.
 46. A gimbal and handle apparatusfor use with a support system having a balance pole comprising: a handleassembly having: a gimbal configured to be functionally connected to,and longitudinally slidably disposed on, the balance pole; the gimbalhaving an outer race; the gimbal outer race non-rotatably attached to ahandle support bracket toward a proximate end of the handle supportbracket; the handle support bracket further attached to a handle grip,the handle grip extending in a direction substantially perpendicular toa center line of the balance pole when the handle assembly isfunctionally connected to the balance pole; an arm mount bracket havingdistal and proximate ends, the arm mount bracket rotatably attached atits proximate end to the handle support bracket toward a proximate endof the handle support bracket; an arm mount rotationally attached to thearm mount bracket distal end; a resilient component functionallyarranged with respect to the arm mount bracket and the handle supportbracket to limit rotation of the brackets with respect to one anotherand to dampen associated motion; and a notch in the handle supportbracket to accommodate one or more tie rods of a support system when thesupport apparatus is rotated.
 47. A support system comprising: a balancepole with a primary end and a secondary end; a primary gimbal apparatushaving a primary yoke non-rotatably connected to the primary end of thebalance pole; a secondary gimbal apparatus having a secondary yokenon-rotatably connected to the secondary end of the balance pole; atertiary gimbal attached to the balance pole at its center of balance sothat the balance pole can rotate within it to provide a first degree ofangular connection between the primary and secondary yokes; a mechanismto replicate the motion of the primary gimbal at the secondary gimbal;and a handle assembly comprising: a gimbal configured to be functionallyconnected to, and longitudinally slidably disposed on, the balance pole;the gimbal having an outer race; the gimbal outer race attached to ahandle support bracket toward a proximate end of the handle supportbracket; the handle support bracket further attached to a handle grip,the handle grip extending in a direction substantially perpendicular toa center line of the balance pole when the handle assembly isfunctionally connected to the balance pole; an arm mount bracket havingdistal and proximate ends, the arm mount bracket rotatably attached atits proximate end to the handle support bracket toward a proximate endof the handle support bracket; an arm mount rotationally attached to thearm mount bracket distal end; and a resilient component functionallyarranged with respect to the arm mount bracket and the handle supportbracket to limit rotation of the brackets with respect to one anotherand to dampen associated motion.
 48. The gimbal and handle apparatus ofclaim 47 further comprising: an arm mounting assembly attached to adistal end of the arm mount bracket to mount a support arm, the armmounting assembly rotatable with respect to the support arm about asubstantially vertical axis, which is substantially perpendicular to thelongitudinal axis of the handle grip.
 49. The gimbal and handleapparatus of claim 47 further comprising: a notch in the handle supportbracket to accommodate one or more tie rods of a support system when thesupport apparatus is rotated.